Drone/autopilot telemetry protocol. Header fields (seq/sysid/compid/msgid) sit between the length field and the region LEN actually counts.
Physical UART Transport (115200 bps, 8N1.0)
Send command HEARTBEAT (ID: 0x00)
Message ID 0. System status heartbeat broadcast by vehicle or ground station.
Available only on servers:
Accepts the following message:
Message ID 0. System status heartbeat broadcast by vehicle or ground station.
{
"command_id": 0,
"seq": 0,
"sysId": 0,
"compId": 0,
"msgId": 0,
"customMode": 0,
"vehicleType": 0,
"autopilot": 0,
"baseMode": 0,
"systemStatus": 0,
"mavlinkVersion": 0
}
Send command SYS_STATUS (ID: 0x01)
Message ID 1. System status, battery voltage, current draw, and sensor health.
Available only on servers:
Accepts the following message:
Message ID 1. System status, battery voltage, current draw, and sensor health.
{
"command_id": 1,
"seq": 0,
"sysId": 0,
"compId": 0,
"msgId": 1,
"onboardSensorsPresent": 0,
"onboardSensorsEnabled": 0,
"onboardSensorsHealth": 0,
"load": 0,
"voltageBattery": 0,
"currentBattery": 0,
"batteryRemaining": 0
}
Send command GPS_RAW_INT (ID: 0x18)
Message ID 24. Raw GPS location and satellite fix data.
Available only on servers:
Accepts the following message:
Message ID 24. Raw GPS location and satellite fix data.
{
"command_id": 24,
"seq": 0,
"sysId": 0,
"compId": 0,
"msgId": 24,
"timeUsec": 0,
"fixType": 0,
"lat": 0,
"lon": 0,
"alt": 0,
"eph": 0,
"epv": 0,
"vel": 0,
"cog": 0,
"satellitesVisible": 0
}
Send command ATTITUDE (ID: 0x1E)
Message ID 30. Vehicle roll, pitch, and yaw angles and angular velocity.
Available only on servers:
Accepts the following message:
Message ID 30. Vehicle roll, pitch, and yaw angles and angular velocity.
{
"command_id": 30,
"seq": 0,
"sysId": 0,
"compId": 0,
"msgId": 30,
"timeBootMs": 0,
"roll": 0,
"pitch": 0,
"yaw": 0,
"rollspeed": 0,
"pitchspeed": 0,
"yawspeed": 0
}
Send command COMMAND_LONG (ID: 0x4C)
Message ID 76. Generic command dispatch to vehicle autopilot.
Available only on servers:
Accepts the following message:
Message ID 76. Generic command dispatch to vehicle autopilot.
{
"command_id": 76,
"seq": 0,
"sysId": 0,
"compId": 0,
"msgId": 76,
"targetSystem": 0,
"targetComponent": 0,
"command": 0,
"confirmation": 0,
"param1": 0,
"param2": 0,
"param3": 0,
"param4": 0,
"param5": 0,
"param6": 0,
"param7": 0
}
Message ID 0. System status heartbeat broadcast by vehicle or ground station.
Message ID 1. System status, battery voltage, current draw, and sensor health.
Message ID 24. Raw GPS location and satellite fix data.
Message ID 30. Vehicle roll, pitch, and yaw angles and angular velocity.
Message ID 76. Generic command dispatch to vehicle autopilot.